Merge remote-tracking branch 'origin/main' into update_bazel_version

CMakeLists.txt

@@ -167,8 +167,7 @@ endif()
 
 if (USE_SYSTEM_LIBUV)
 set (LIBUV_SYSTEM_REPLACE "
-find_package(PkgConfig REQUIRED)
-pkg_check_modules(libuv REQUIRED IMPORTED_TARGET libuv)
+find_dependency(libuv CONFIG)
 ")
 endif()
 

apriltag/build.gradle

@@ -35,7 +35,6 @@ apply from: "${rootDir}/shared/opencv.gradle"
 
 dependencies {
     implementation project(':wpimath')
-    devImplementation project(':wpimath')
 }
 
 sourceSets {

cameraserver/build.gradle

@@ -14,10 +14,6 @@ dependencies {
     implementation project(':wpinet')
     implementation project(':ntcore')
     implementation project(':cscore')
-    devImplementation project(':wpiutil')
-    devImplementation project(':wpinet')
-    devImplementation project(':ntcore')
-    devImplementation project(':cscore')
 }
 
 ext {

cameraserver/src/main/native/include/vision/VisionRunner.inc

@@ -4,6 +4,8 @@
 
 #pragma once
 
+#include <functional>
+
 #include "vision/VisionRunner.h"
 
 namespace frc {

cscore/src/main/native/include/cscore_cv.h

@@ -5,6 +5,8 @@
 #ifndef CSCORE_CSCORE_CV_H_
 #define CSCORE_CSCORE_CV_H_
 
+#include <functional>
+
 #include "cscore_c.h"
 
 #ifdef CSCORE_CSCORE_RAW_CV_H_

cscore/src/main/native/include/cscore_oo.h

@@ -5,6 +5,7 @@
 #ifndef CSCORE_CSCORE_OO_H_
 #define CSCORE_CSCORE_OO_H_
 
+#include <functional>
 #include <initializer_list>
 #include <span>
 #include <string>

cscore/src/main/native/include/cscore_oo.inc

@@ -5,6 +5,7 @@
 #ifndef CSCORE_CSCORE_OO_INC_
 #define CSCORE_CSCORE_OO_INC_
 
+#include <functional>
 #include <string>
 #include <string_view>
 #include <utility>

cscore/src/main/native/include/cscore_raw.h

@@ -5,6 +5,8 @@
 #ifndef CSCORE_CSCORE_RAW_H_
 #define CSCORE_CSCORE_RAW_H_
 
+#include <functional>
+
 #include "cscore_c.h"
 
 #ifdef __cplusplus

cscore/src/main/native/include/cscore_raw_cv.h

@@ -9,6 +9,8 @@
 #error "Cannot include both cscore_cv.h and cscore_raw_cv.h in the same file"
 #endif
 
+#include <functional>
+
 #include <opencv2/core/mat.hpp>
 
 #include "cscore_raw.h"

docs/build.gradle

@@ -13,6 +13,7 @@ evaluationDependsOn(':wpilibc')
 evaluationDependsOn(':wpilibj')
 evaluationDependsOn(':wpimath')
 evaluationDependsOn(':wpinet')
+evaluationDependsOn(':wpiunits')
 evaluationDependsOn(':wpiutil')
 
 def baseArtifactIdCpp = 'documentation'

hal/src/main/java/edu/wpi/first/hal/AllianceStationID.java

@@ -5,6 +5,7 @@
 package edu.wpi.first.hal;
 
 public enum AllianceStationID {
+  Unknown,
   Red1,
   Red2,
   Red3,

hal/src/main/java/edu/wpi/first/hal/DriverStationJNI.java

@@ -147,12 +147,13 @@ public static void getControlWord(ControlWord controlWord) {
    */
   private static native int nativeGetAllianceStation();
 
-  public static final int kRed1AllianceStation = 0;
-  public static final int kRed2AllianceStation = 1;
-  public static final int kRed3AllianceStation = 2;
-  public static final int kBlue1AllianceStation = 3;
-  public static final int kBlue2AllianceStation = 4;
-  public static final int kBlue3AllianceStation = 5;
+  public static final int kUnknownAllianceStation = 0;
+  public static final int kRed1AllianceStation = 1;
+  public static final int kRed2AllianceStation = 2;
+  public static final int kRed3AllianceStation = 3;
+  public static final int kBlue1AllianceStation = 4;
+  public static final int kBlue2AllianceStation = 5;
+  public static final int kBlue3AllianceStation = 6;
 
   /**
    * Gets the current alliance station ID.
@@ -162,6 +163,8 @@ public static void getControlWord(ControlWord controlWord) {
    */
   public static AllianceStationID getAllianceStation() {
     switch (nativeGetAllianceStation()) {
+      case kUnknownAllianceStation:
+        return AllianceStationID.Unknown;
       case kRed1AllianceStation:
         return AllianceStationID.Red1;
       case kRed2AllianceStation:

hal/src/main/java/edu/wpi/first/hal/REVPHFaults.java

@@ -56,27 +56,27 @@ public class REVPHFaults {
    * @param faults the fault bitfields
    */
   public REVPHFaults(int faults) {
-    Channel0Fault = (faults & 0x1) != 0;
-    Channel1Fault = (faults & 0x2) != 0;
-    Channel2Fault = (faults & 0x4) != 0;
-    Channel3Fault = (faults & 0x8) != 0;
-    Channel4Fault = (faults & 0x10) != 0;
-    Channel5Fault = (faults & 0x20) != 0;
-    Channel6Fault = (faults & 0x40) != 0;
-    Channel7Fault = (faults & 0x80) != 0;
-    Channel8Fault = (faults & 0x100) != 0;
-    Channel9Fault = (faults & 0x200) != 0;
-    Channel10Fault = (faults & 0x400) != 0;
-    Channel11Fault = (faults & 0x800) != 0;
-    Channel12Fault = (faults & 0x1000) != 0;
-    Channel13Fault = (faults & 0x2000) != 0;
-    Channel14Fault = (faults & 0x4000) != 0;
-    Channel15Fault = (faults & 0x8000) != 0;
-    CompressorOverCurrent = (faults & 0x8000) != 0;
-    CompressorOpen = (faults & 0x10000) != 0;
-    SolenoidOverCurrent = (faults & 0x20000) != 0;
-    Brownout = (faults & 0x40000) != 0;
-    CanWarning = (faults & 0x80000) != 0;
-    HardwareFault = (faults & 0x100000) != 0;
+    Channel0Fault = (faults & (1 << 0)) != 0;
+    Channel1Fault = (faults & (1 << 1)) != 0;
+    Channel2Fault = (faults & (1 << 2)) != 0;
+    Channel3Fault = (faults & (1 << 3)) != 0;
+    Channel4Fault = (faults & (1 << 4)) != 0;
+    Channel5Fault = (faults & (1 << 5)) != 0;
+    Channel6Fault = (faults & (1 << 6)) != 0;
+    Channel7Fault = (faults & (1 << 7)) != 0;
+    Channel8Fault = (faults & (1 << 8)) != 0;
+    Channel9Fault = (faults & (1 << 9)) != 0;
+    Channel10Fault = (faults & (1 << 10)) != 0;
+    Channel11Fault = (faults & (1 << 11)) != 0;
+    Channel12Fault = (faults & (1 << 12)) != 0;
+    Channel13Fault = (faults & (1 << 13)) != 0;
+    Channel14Fault = (faults & (1 << 14)) != 0;
+    Channel15Fault = (faults & (1 << 15)) != 0;
+    CompressorOverCurrent = (faults & (1 << 16)) != 0;
+    CompressorOpen = (faults & (1 << 17)) != 0;
+    SolenoidOverCurrent = (faults & (1 << 18)) != 0;
+    Brownout = (faults & (1 << 19)) != 0;
+    CanWarning = (faults & (1 << 20)) != 0;
+    HardwareFault = (faults & (1 << 21)) != 0;
   }
 }

hal/src/main/native/cpp/jni/DriverStationJNI.cpp

@@ -15,7 +15,27 @@
 #include "hal/FRCUsageReporting.h"
 #include "hal/HALBase.h"
 
-// TODO Static asserts
+static_assert(edu_wpi_first_hal_DriverStationJNI_kUnknownAllianceStation ==
+              HAL_AllianceStationID_kUnknown);
+static_assert(edu_wpi_first_hal_DriverStationJNI_kRed1AllianceStation ==
+              HAL_AllianceStationID_kRed1);
+static_assert(edu_wpi_first_hal_DriverStationJNI_kRed2AllianceStation ==
+              HAL_AllianceStationID_kRed2);
+static_assert(edu_wpi_first_hal_DriverStationJNI_kRed3AllianceStation ==
+              HAL_AllianceStationID_kRed3);
+static_assert(edu_wpi_first_hal_DriverStationJNI_kBlue1AllianceStation ==
+              HAL_AllianceStationID_kBlue1);
+static_assert(edu_wpi_first_hal_DriverStationJNI_kBlue2AllianceStation ==
+              HAL_AllianceStationID_kBlue2);
+static_assert(edu_wpi_first_hal_DriverStationJNI_kBlue3AllianceStation ==
+              HAL_AllianceStationID_kBlue3);
+
+static_assert(edu_wpi_first_hal_DriverStationJNI_kMaxJoystickAxes ==
+              HAL_kMaxJoystickAxes);
+static_assert(edu_wpi_first_hal_DriverStationJNI_kMaxJoystickPOVs ==
+              HAL_kMaxJoystickPOVs);
+static_assert(edu_wpi_first_hal_DriverStationJNI_kMaxJoysticks ==
+              HAL_kMaxJoysticks);
 
 using namespace hal;
 using namespace wpi::java;

hal/src/main/native/include/hal/DriverStationTypes.h

@@ -42,6 +42,7 @@ typedef struct HAL_ControlWord HAL_ControlWord;
 
 // clang-format off
 HAL_ENUM(HAL_AllianceStationID) {
+  HAL_AllianceStationID_kUnknown = 0,
   HAL_AllianceStationID_kRed1,
   HAL_AllianceStationID_kRed2,
   HAL_AllianceStationID_kRed3,
@@ -51,7 +52,7 @@ HAL_ENUM(HAL_AllianceStationID) {
 };
 
 HAL_ENUM(HAL_MatchType) {
-  HAL_kMatchType_none,
+  HAL_kMatchType_none = 0,
   HAL_kMatchType_practice,
   HAL_kMatchType_qualification,
   HAL_kMatchType_elimination,

ntcore/src/generate/cpp/jni/types_jni.cpp.jinja

@@ -22,6 +22,8 @@ static JClass timestamped{{ t.TypeName }}Cls;
 static JClass {{ t.jni.jtype }}Cls;
 {%- endif %}
 {%- endfor %}
+static JException illegalArgEx;
+static JException indexOobEx;
 static JException nullPointerEx;
 
 static const JClassInit classes[] = {
@@ -36,6 +38,8 @@ static const JClassInit classes[] = {
 };
 
 static const JExceptionInit exceptions[] = {
+    {"java/lang/IllegalArgumentException", &illegalArgEx},
+    {"java/lang/IndexOutOfBoundsException", &indexOobEx},
     {"java/lang/NullPointerException", &nullPointerEx},
 };
 
@@ -65,6 +69,9 @@ void JNI_UnloadTypes(JNIEnv* env) {
   for (auto& c : classes) {
     c.cls->free(env);
   }
+  for (auto& c : exceptions) {
+    c.cls->free(env);
+  }
 }
 
 }  // namespace nt
@@ -185,7 +192,65 @@ Java_edu_wpi_first_networktables_NetworkTablesJNI_readQueueValues{{ t.TypeName }
 {
   return {{ t.jni.ToJavaArray }}(env, nt::ReadQueueValues{{ t.TypeName }}(subentry));
 }
+{% if t.TypeName == "Raw" %}
+/*
+ * Class:     edu_wpi_first_networktables_NetworkTablesJNI
+ * Method:    setRaw
+ * Signature: (IJ[BII)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_networktables_NetworkTablesJNI_setRaw
+  (JNIEnv* env, jclass, jint entry, jlong time, jbyteArray value, jint start, jint len)
+{
+  if (!value) {
+    nullPointerEx.Throw(env, "value is null");
+    return false;
+  }
+  if (start < 0) {
+    indexOobEx.Throw(env, "start must be >= 0");
+    return false;
+  }
+  if (len < 0) {
+    indexOobEx.Throw(env, "len must be >= 0");
+    return false;
+  }
+  CriticalJByteArrayRef cvalue{env, value};
+  if (static_cast<unsigned int>(start + len) > cvalue.size()) {
+    indexOobEx.Throw(env, "start + len must be smaller than array length");
+    return false;
+  }
+  return nt::SetRaw(entry, cvalue.uarray().subspan(start, len), time);
+}
 
+/*
+ * Class:     edu_wpi_first_networktables_NetworkTablesJNI
+ * Method:    setRawBuffer
+ * Signature: (IJLjava/nio/ByteBuffer;II)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_networktables_NetworkTablesJNI_setRawBuffer
+  (JNIEnv* env, jclass, jint entry, jlong time, jobject value, jint start, jint len)
+{
+  if (!value) {
+    nullPointerEx.Throw(env, "value is null");
+    return false;
+  }
+  if (start < 0) {
+    indexOobEx.Throw(env, "start must be >= 0");
+    return false;
+  }
+  if (len < 0) {
+    indexOobEx.Throw(env, "len must be >= 0");
+    return false;
+  }
+  JByteArrayRef cvalue{env, value, start + len};
+  if (!cvalue) {
+    illegalArgEx.Throw(env, "value must be a native ByteBuffer");
+    return false;
+  }
+  return nt::SetRaw(entry, cvalue.uarray().subspan(start, len), time);
+}
+{% else %}
 /*
  * Class:     edu_wpi_first_networktables_NetworkTablesJNI
  * Method:    set{{ t.TypeName }}
@@ -203,7 +268,7 @@ Java_edu_wpi_first_networktables_NetworkTablesJNI_set{{ t.TypeName }}
 {%- endif %}
   return nt::Set{{ t.TypeName }}(entry, {{ t.jni.FromJavaBegin }}value{{ t.jni.FromJavaEnd }}, time);
 }
-
+{% endif %}
 /*
  * Class:     edu_wpi_first_networktables_NetworkTablesJNI
  * Method:    get{{ t.TypeName }}
@@ -223,7 +288,65 @@ Java_edu_wpi_first_networktables_NetworkTablesJNI_get{{ t.TypeName }}
   return nt::Get{{ t.TypeName }}(entry, defaultValue);
 {%- endif %}
 }
+{% if t.TypeName == "Raw" %}
+/*
+ * Class:     edu_wpi_first_networktables_NetworkTablesJNI
+ * Method:    setDefaultRaw
+ * Signature: (IJ[BII)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_networktables_NetworkTablesJNI_setDefaultRaw
+  (JNIEnv* env, jclass, jint entry, jlong, jbyteArray defaultValue, jint start, jint len)
+{
+  if (!defaultValue) {
+    nullPointerEx.Throw(env, "value is null");
+    return false;
+  }
+  if (start < 0) {
+    indexOobEx.Throw(env, "start must be >= 0");
+    return false;
+  }
+  if (len < 0) {
+    indexOobEx.Throw(env, "len must be >= 0");
+    return false;
+  }
+  CriticalJByteArrayRef cvalue{env, defaultValue};
+  if (static_cast<unsigned int>(start + len) > cvalue.size()) {
+    indexOobEx.Throw(env, "start + len must be smaller than array length");
+    return false;
+  }
+  return nt::SetDefaultRaw(entry, cvalue.uarray().subspan(start, len));
+}
 
+/*
+ * Class:     edu_wpi_first_networktables_NetworkTablesJNI
+ * Method:    setDefaultRawBuffer
+ * Signature: (IJLjava/nio/ByteBuffer;II)Z
+ */
+JNIEXPORT jboolean JNICALL
+Java_edu_wpi_first_networktables_NetworkTablesJNI_setDefaultRawBuffer
+  (JNIEnv* env, jclass, jint entry, jlong, jobject defaultValue, jint start, jint len)
+{
+  if (!defaultValue) {
+    nullPointerEx.Throw(env, "value is null");
+    return false;
+  }
+  if (start < 0) {
+    indexOobEx.Throw(env, "start must be >= 0");
+    return false;
+  }
+  if (len < 0) {
+    indexOobEx.Throw(env, "len must be >= 0");
+    return false;
+  }
+  JByteArrayRef cvalue{env, defaultValue, start + len};
+  if (!cvalue) {
+    illegalArgEx.Throw(env, "value must be a native ByteBuffer");
+    return false;
+  }
+  return nt::SetDefaultRaw(entry, cvalue.uarray().subspan(start, len));
+}
+{% else %}
 /*
  * Class:     edu_wpi_first_networktables_NetworkTablesJNI
  * Method:    setDefault{{ t.TypeName }}
@@ -241,5 +364,6 @@ Java_edu_wpi_first_networktables_NetworkTablesJNI_setDefault{{ t.TypeName }}
 {%- endif %}
   return nt::SetDefault{{ t.TypeName }}(entry, {{ t.jni.FromJavaBegin }}defaultValue{{ t.jni.FromJavaEnd }});
 }
+{% endif %}
 {% endfor %}
 }  // extern "C"